CN2934066Y - An underwater gliding detector - Google Patents

Abstract

The underwater gliding detector disclosed by the utility model comprises: a gliding shell, a variable buoyancy system, an attitude adjustment system and a communication navigation system. When working, through the driving mechanism of the attitude adjustment system, the internal battery pack is moved along the axis of the gliding shell to achieve the purpose of changing the position of the center of gravity. The micro solenoid valve and micro pump in the variable buoyancy system work together to change the drainage volume of the external oil bladder to realize the change of buoyancy. The combination of the two can complete the zigzag movement in the ocean. Compared with other underwater robots, the utility model has the advantages of compact size, low cost, low power consumption, etc.; since it does not need propellers, propellers and other boosting mechanisms, it can be powered by a battery pack, and it can follow the preset route. It operates continuously for several months at a depth of several thousand meters.

Description

A kind of underwater gliding detector

Technical field

The utility model relates to a kind of underwater gliding detector that can be widely used in water quality monitoring, the exploration of water-bed resource, environmental monitoring.

Background technology

Up to now, be used for the propulsion modes such as the most of employing of autodetector screw propeller of ocean water body water quality monitoring, the exploration of water-bed resource, environmental monitoring research, so after the short time work, all need to replenish power source.Frequent charging procedure has greatly limited the distance and the degree of depth of navigating by water in the detector ocean.

Summary of the invention

The purpose of this utility model is that a kind of volume of proposition is small and exquisite, can move the underwater gliding detector of several months according to default course line in thousands of meters depth rangees continuously.

Underwater gliding detector of the present utility model comprises gliding type housing and variable buoyancy system, attitude control system and the communication navigation system of device in the gliding type housing:

Gliding type housing: have the gliding type shell that protection housing, horizontal tail and empennage constitute, in the protection housing, be provided with pressure-bearing shell;

Variable buoyancy system: comprise outside oil sac, pump valve adapter plate, miniature electromagnetic valve, micropump, connecting rod, oil pocket adapter plate and inner oil pocket, micropump and miniature electromagnetic valve are fixed on the pump valve adapter plate, inner oil pocket is fixed on the oil pocket adapter plate, the oil pocket adapter plate is connected by connecting rod with the pump valve adapter plate, outside oil sac is the afterbody of pressure-bearing shell fixedly, between pressure-bearing shell and protection housing;

Attitude control system: comprise header board, back plate, stepping motor, motor fixing frame, worm gear that is meshed and worm screw, the worm screw fixed mount, ball-screw, two line slideways, the ball-screw support ring, line slideway support ring and power brick, stepping motor and worm screw are fixed with motor fixing frame that is installed in header board and worm screw fixed mount respectively, the rotating shaft of stepping motor and worm screw are coaxial fixing, worm gear is connected with an end of ball-screw, power brick is fixed on the slide block of ball-screw and two line slideways, ball-screw and two line slideways are parallel to each other, and the two ends of ball-screw and two line slideways are installed on header board and the back plate by ball-screw support ring and line slideway support ring respectively;

Communication navigation system: comprise fixed mount and the Navigation Control circuit card that is installed on the fixed mount, fixed mount is positioned at gliding type housing ante-chamber.

Underwater gliding detector passes through to change center-of-gravity position and realizes the attitude adjusting, and by the control that the buoyancy realization that changes self is risen and fallen, the two is in conjunction with the zigzagging that just can finish in the ocean.The power of underwater gliding detector is provided by power brick, this power brick is as the counterweight that changes center of gravity simultaneously, during work, the rotating of control step motor, by worm screw, turbine, ball screw transmission, drive power brick along guide rail at gliding type housing middle part along axial-movement, reach the purpose that changes center-of-gravity position.The surface and the contact with sea water of outside oil sac, by fill the buoyancy that oil extraction just can change underwater gliding detector to oil sac, during work, partial vacuum is pumped in pressure-bearing shell inside, degree of vacuum is 0.5MPa, by the cooperating of miniature electromagnetic valve and micropump, can charge into the oil in the inner oil pocket or discharge inner oil pocket.

Underwater gliding detector of the present utility model and other under-water robot are compared, and have volume dexterity, low cost and other advantages; Owing to do not need boosting mechanisms such as screw propeller, propelling unit, greatly reduce the power consumption of system, therefore by the power brick power supply, just can in thousands of meters depth rangees, move the several months continuously according to default course line.

Description of drawings

Fig. 1 is that the structure of underwater gliding detector becomes scheme drawing.

The specific embodiment

With reference to Fig. 1, underwater gliding detector comprises gliding type housing and variable buoyancy system, attitude control system and the communication navigation system of device in the gliding type housing:

Gliding type housing: have the gliding type shell that protection housing 1, horizontal tail 19 and empennage 10 constitute, in protection housing 1, be provided with pressure-bearing shell 26;

In order to reduce the resistance of motion of underwater gliding detector in seawater, the front and back end of protection housing is shaped as ellipse, satisfies equation:

${\left(\frac{x}{30}\right)}^2+{\left(\frac{y}{10}\right)}^2=1$

In the formula: x, y are respectively the level and the vertical coordinate in housing elevation profile;

Variable buoyancy system: comprise outside oil sac 2, pump valve adapter plate 3, miniature electromagnetic valve 4, micropump 11, connecting rod 12, oil pocket adapter plate 13 and inner oil pocket 14, micropump 11 and miniature electromagnetic valve 4 are fixed on the pump valve adapter plate 3, inner oil pocket 14 is fixed on the oil pocket adapter plate 13, oil pocket adapter plate 13 is connected by connecting rod 12 with pump valve adapter plate 3, outside oil sac 2 is the afterbody of pressure-bearing shell 26 fixedly, between pressure-bearing shell 26 and protection housing 1;

Attitude control system: comprise header board 7, back plate 5, stepping motor 6, motor fixing frame 21, worm gear 22 that is meshed and worm screw 23, worm screw fixed mount 24, ball-screw 17, two line slideways 18, ball-screw support ring 15, line slideway support ring 16 and power brick 20, stepping motor 6 and worm screw 23 are fixing with motor fixing frame 21 that is installed in header board 7 and worm screw fixed mount 24 respectively, the rotating shaft of stepping motor 6 and worm screw 23 are coaxial fixing, worm gear 22 is connected with an end of ball-screw 17, power brick 20 is fixed on the slide block of ball-screw 17 and two line slideways 18, ball-screw 17 and two line slideways 18 are parallel to each other, power brick 20 can move forward and backward along guide rail, and the two ends of ball-screw 17 and two line slideways are installed on header board 7 and the back plate 5 by ball-screw support ring 15 and line slideway support ring 16 respectively;

Communication navigation system: comprise fixed mount 9 and the Navigation Control circuit card 8 that is installed on the fixed mount, fixed mount 9 is positioned at gliding type housing ante-chamber.Navigation Control circuit card 8 is used to realize GPS location, attitude feedback, motion control and the environmental parameters monitoring of underwater gliding detector.

Its working process is: when the underwater gliding detector rig ship for dive, miniature electromagnetic valve 4 is opened, because pressure-bearing shell 26 has been pumped into partial vacuum, the hydraulic oil in the outside oil sac 2 is pushed back in the inner oil pocket 14 under the bar pressure effect.The volume of inner oil pocket 14 begins to change, and specifies when requiring when variable quantity reaches, and miniature valve 4 is closed.Hydraulic efficiency pressure system quits work.At this moment, buoyancy is less than gravity.Underwater gliding detector begins dive.Stepping motor 6 drives the ball-screw clickwise, and power brick moves to the housing front end, and fuselage and horizontal surface form certain included angle.Specify when requiring when the fuselage leaning angle reaches, stepping motor 6 stops the rotation.Self-locking mechanism locking leading screw makes it stop operating.Underwater gliding detector slides forward with certain angle.When underwater gliding detector reached designated depth, at this moment, stepping motor 6 was started working, and drove power brick 20 and moved to the housing rear end, receded thereby make fuselage become from leaning forward.When sweptback angle reached designated value, stepping motor quit work.Then, micropump 11 is started working, and the hydraulic oil in the inner oil pocket 14 is transported to outside oil sac.When carrying oil mass to reach designated value, micropump 11 quits work.At this moment, buoyancy is greater than gravity, and underwater gliding detector begins to slide to the front upper place with certain angle.In the process of sliding, 8 pairs of marine environment of Navigation Control circuit card are monitored, and preserve monitoring result.When underwater gliding detector was about to emerge, stepping motor 6 was started working, and power brick 20 is moved to leading portion.The antenna of Navigation Control circuit card 8 is surfaced, and at this moment, the front rake of underwater gliding detector is in maxim.Aerodone begins to carry out communication with satellite.After communication finished, underwater gliding detector entered working cycle next time.

Claims (2)

1. An underwater gliding detector is characterized in that it comprises a gliding shell and a variable buoyancy system, an attitude adjustment system and a communication navigation system installed in the gliding shell: Gliding shell: a gliding shell composed of a protective shell (1), a horizontal wing (19) and an empennage (10), and a pressure-bearing shell (26) is arranged in the protective shell (1); Variable buoyancy system: including external oil bladder (2), pump valve fixing plate (3), micro solenoid valve (4), micro pump (11), connecting rod (12), oil chamber fixing plate (13) and internal oil cavity (14), micropump (11) and micro solenoid valve (4) are fixed on the pump valve fixing plate (3), the internal oil chamber (14) is fixed on the oil cavity fixing plate (13), and the oil cavity fixing plate ( 13) and the pump valve fixing plate (3) are connected by the connecting rod (12), and the external oil bag (2) fixes the tail of the pressure-bearing shell (26), which is located between the pressure-bearing shell (26) and the protective shell (1) between; Attitude adjustment system: including front plate (7), rear plate (5), stepping motor (6), motor fixing frame (21), meshing worm gear (22) and worm (23), worm screw fixing frame (24) , ball screw (17), two linear guides (18), ball screw support ring (15), linear guide support ring (16) and battery pack (20), stepping motor (6) and worm (23) They are respectively fixed with the motor fixing frame (21) and the worm screw fixing frame (24) installed on the front plate (7), the rotating shaft of the stepping motor (6) and the worm screw (23) are coaxially fixed, and the worm wheel (22) and the ball screw One end of (17) is connected, and battery pack (20) is fixed on the slide block of ball screw (17) and two linear guides (18), and ball screw (17) and two linear guides (18) are parallel to each other, The two ends of the ball screw (17) and the two linear guide rails are respectively installed on the front plate (7) and the rear plate (5) through the ball screw support ring (15) and the linear guide support ring (16); Communication and navigation system: including a fixed frame (9) and a navigation control circuit board (8) installed on the fixed frame, and the fixed frame (9) is located in the front chamber of the gliding type housing. 2. The underwater gliding detector according to claim 1, characterized in that the front and rear ends of the protective housing (26) are oval in shape, satisfying the equation: ${<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; x</span>}}{\mathrm{<span\; class="notranslate">\; 30</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\mathrm{<span\; class="notranslate">\; 10</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}$ where x and y are the horizontal and vertical coordinates of the longitudinal section of the shell, respectively.